CN113110152A - Unmanned vehicle driving state switching method and device, electronic equipment and medium - Google Patents
Unmanned vehicle driving state switching method and device, electronic equipment and medium Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The embodiment of the disclosure discloses a driving state switching method and device for an unmanned vehicle, electronic equipment and a medium. One embodiment of the method comprises: according to the emergency degree, the driving state is subjected to priority division; acquiring a driving state switching instruction; comparing the priority of the current driving state of the unmanned vehicle with the priority of the target driving state; if the priority of the current driving state is lower than that of the target driving state, controlling the unmanned vehicle to be switched from the current driving state to the target driving state; if the priority of the current driving state is higher than that of the target driving state, controlling the unmanned vehicle to enter a waiting state; the target driving state takes over the waiting state. The embodiment avoids the unsupervised condition caused when the unmanned vehicle switches the unmanned state, and the unmanned state is switched more smoothly. The safety and convenience of the user in the process of switching the unmanned state are greatly improved, and the user experience is improved laterally.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of automatic driving, in particular to a driving state switching method and device of an unmanned vehicle, electronic equipment and a medium.
Background
The unmanned vehicle system has many driving states, and the existing unmanned vehicle can not cover all driving scenes, and the unmanned vehicle often needs manual intervention to control driving under the conditions of map-lacking areas, complex road conditions and the like. Clear logic judgment is needed to ensure the safe operation of the vehicle if the driving state is to be switched.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose unmanned vehicle driving state switching methods, apparatuses, electronic devices, and media to solve the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a driving state switching method of an unmanned vehicle, the method including: according to the degree of urgency, the driving states are prioritized, wherein the driving states comprise the following components in the priority order: emergency state, remote driving state, and automatic driving state; acquiring a driving state switching instruction, wherein the driving state switching instruction is used for switching the current driving state into a target driving state; in response to receiving the driving state switching instruction, comparing the priority of the current driving state of the unmanned vehicle with the priority of the target driving state; if the priority of the current driving state is lower than that of the target driving state, controlling the unmanned vehicle to be switched from the current driving state to the target driving state; if the priority of the current driving state is higher than that of the target driving state, controlling the unmanned vehicle to enter a waiting state, wherein the unmanned vehicle can adjust the self state to meet the entering condition of the target driving state in the waiting state; and after the unmanned vehicle enters the waiting state, the target driving state takes over the waiting state.
In a second aspect, some embodiments of the present disclosure provide a driving state switching device of an unmanned vehicle, the device including: the dividing unit is configured to perform priority division on the driving states according to the emergency degree, wherein the driving states comprise the following driving states in the priority order: emergency state, remote driving state, and automatic driving state; an acquisition unit configured to acquire a driving state switching instruction, wherein the driving state switching instruction is used for switching a current driving state to a target driving state; a comparison unit configured to compare a priority of a current driving state of the unmanned vehicle with the target driving state in response to receiving the driving state switching instruction; a switching unit configured to control the unmanned vehicle to switch from the current driving state to the target driving state if the priority of the current driving state is lower than the priority of the target driving state; a waiting state entering unit configured to control the unmanned vehicle to enter a waiting state if the priority of the current driving state is higher than the priority of the target driving state, wherein the unmanned vehicle can adjust the self state to meet the entering condition of the target driving state in the waiting state; a takeover unit configured to take over the waiting state by the target driving state after the unmanned vehicle enters the waiting state.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon which, when executed by one or more processors, cause the one or more processors to implement the method as described in the first aspect.
In a fourth aspect, some embodiments of the disclosure provide a computer readable medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the method as described in the first aspect.
One of the above-described various embodiments of the present disclosure has the following advantageous effects: by prioritizing the driving states according to the degree of urgency, a clear switching logic can be obtained when the driving states of the unmanned vehicle are switched. Then, the priority of the target driving state in the driving state switching instruction is compared with the priority of the current driving state of the unmanned vehicle. Then, the driving state is switched according to the result of the comparison. According to the method disclosed by the embodiment, the priority and the waiting state of the driving state are used as transitions, the unsupervised condition of an unmanned vehicle is avoided in the process of switching the driving state, and the driving state is switched smoothly. The safety and convenience of the unmanned vehicle in the process of switching the driving state are greatly improved, and the user experience is improved laterally.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
FIG. 1 is a schematic illustration of one application scenario of a method of driving state switching of an unmanned vehicle, in accordance with some embodiments of the present disclosure;
FIG. 2 is a flow chart of some embodiments of a method of driving state switching of an unmanned vehicle according to the present disclosure;
FIG. 3 is a schematic structural diagram of some embodiments of a driving state switching device of an unmanned vehicle according to the present disclosure;
FIG. 4 is a schematic block diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of one application scenario of a driving state switching method of an unmanned vehicle according to some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may prioritize the driving status by urgency 102, as indicated by reference numeral 103. Then, the computing device 101 may obtain the driving state switching instruction 104. Then, in response to receiving the driving state switching instruction 104, the computing device 101 may compare the priority of the current driving state of the unmanned vehicle with the target driving state, as indicated by reference numeral 105. Thereafter, if the priority of the current driving state is lower than the priority of the target driving state, the computing device 101 may control the unmanned vehicle to switch from the current driving state to the target driving state, as indicated by reference numeral 106. If the priority of the current driving state is higher than the priority of the target driving state, the computing device 101 may control the unmanned vehicle to enter the waiting state 107. Finally, after the unmanned vehicle enters the wait state 107, the target driving state 106 takes over the wait state 107.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.
It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.
With continued reference to fig. 2, a flow 200 of some embodiments of a method of driving state switching for an unmanned vehicle according to the present disclosure is shown. The method may be performed by the computing device 101 of fig. 1. The driving state switching method of the unmanned vehicle comprises the following steps:
In some embodiments, an executing subject of the unmanned vehicle's driving state switching method (e.g., the computing device 101 shown in fig. 1) may prioritize the driving state by urgency. Wherein, the driving states comprise the following driving states in a high-low sequence according to the priority: emergency state, remote driving state, and autonomous driving state.
In some embodiments, the executing body may obtain the driving state switching instruction through a wireless connection. The driving state switching instruction is used for switching the current driving state into the target driving state.
It should be noted that the wireless connection means may include, but is not limited to, a 3G/4G connection, a WiFi connection, a bluetooth connection, a WiMAX connection, a Zigbee connection, a uwb (ultra wideband) connection, and other wireless connection means now known or developed in the future.
In some embodiments, in response to receiving the driving state switching instruction, the execution subject may compare the priority of the current driving state of the unmanned vehicle with the target driving state. As an example, the current driving state of the above-described unmanned vehicle may be a "remote driving state", and the target driving state may be an "automatic driving state". Thus, the execution subject may determine that the priority of the current driving state of the unmanned vehicle is higher than the priority of the target driving state.
And 204, if the priority of the current driving state is lower than that of the target driving state, controlling the unmanned vehicle to switch from the current driving state to the target driving state.
In some embodiments, the execution subject may control the unmanned vehicle to switch from the current driving state to the target driving state if the priority of the current driving state is lower than the priority of the target driving state.
And step 205, if the priority of the current driving state is higher than that of the target driving state, controlling the unmanned vehicle to enter a waiting state.
In some embodiments, the execution subject may control the unmanned vehicle to enter a waiting state if the priority of the current driving state is higher than the priority of the target driving state. The unmanned vehicle can adjust the self state to the entering condition which can meet the target driving state in the waiting state.
In some optional implementations of some embodiments, the entry condition of the target driving state includes: the vehicle has no self-failure.
In some optional implementations of some embodiments, the method further includes: if the current driving state is an emergency state, the unmanned vehicle enters a stop state; determining whether the unmanned vehicle meets an exit condition for exiting the emergency state; if the exit condition is met, acquiring a confirmation instruction; the unmanned vehicle enters a waiting state. Wherein, the confirmation instruction is used for confirming that the unmanned vehicle exits the emergency state. Specifically, the confirmation instruction may be information for characterizing the restart of the unmanned vehicle. The emergency state may be a safety state in which the unmanned vehicle itself fails or the unmanned vehicle detects that a serious potential safety hazard exists in the operating environment, so that the vehicle is separated from an original operating state as soon as possible and enters a specific operation process or a specific function.
In some optional implementations of some embodiments, the entry condition of the target driving state includes one of: remote-control driving state entry conditions, remote-driving state entry conditions, and automatic driving state entry conditions. Here, the remote control driving state switching conditions include: the unmanned vehicle has no fault influencing the remote control driving state; the unmanned vehicle is not in an emergency state; the unmanned vehicle meets the preset remote control driving use conditions; the driving state switching instruction is an instruction for indicating to enter a remote control driving state.
In some optional implementations of some embodiments, the method further includes: and if the current driving state is a remote control driving state and the target driving state is a remote driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the remote driving state entering condition in the waiting state. Here, the remote driving state switching condition includes: the unmanned vehicle has no fault influencing remote driving; the vehicle is in a waiting state or an automatic driving state; the unmanned vehicle meets the switching condition and the preset remote driving use condition; the driving state switching command represents a command to enter a remote driving state.
In some optional implementations of some embodiments, the method further includes: and if the current driving state is a remote driving state and the target driving state is an automatic driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the automatic driving state entering condition in the waiting state. Here, the automatic driving state switching condition includes: the unmanned vehicle has no fault influencing automatic driving; the vehicle is in a waiting state; the unmanned vehicle meets the admittance state (comprising environment, self system state, vehicle speed and driving gesture) of automatic driving; the driving state switching command represents a command to enter an autonomous driving state.
And step 206, after the unmanned vehicle enters the waiting state, taking over the waiting state by the target driving state.
In some embodiments, the target driving state may take over the waiting state after the unmanned vehicle enters the waiting state.
In some optional implementations of some embodiments, the method further comprises: generating voice prompt information for representing the successful switching of the driving state; and transmitting the voice prompt information to the electronic equipment with the playing function in the unmanned vehicle, and controlling the electronic equipment to play the voice prompt information.
One of the above-described various embodiments of the present disclosure has the following advantageous effects: by prioritizing the driving states according to the degree of urgency, a clear switching logic can be obtained when the driving states of the unmanned vehicle are switched. Then, the priority of the target driving state in the driving state switching instruction is compared with the priority of the current driving state of the unmanned vehicle. Then, the driving state is switched according to the result of the comparison. According to the method disclosed by the embodiment, the priority and the waiting state of the driving state are used as transitions, the unsupervised condition of an unmanned vehicle is avoided in the process of switching the driving state, and the driving state is switched smoothly. The safety and convenience of the unmanned vehicle in the process of switching the driving state are greatly improved, and the user experience is improved laterally.
With further reference to fig. 3, as an implementation of the above-described method for the above-described figures, the present disclosure provides some embodiments of a driving state switching device for an unmanned vehicle, which correspond to those of the method embodiments described above for fig. 2, and which may be particularly applied to various electronic devices.
As shown in fig. 3, the driving state switching device 300 of the unmanned vehicle of some embodiments includes: the device comprises a dividing unit 301, an obtaining unit 302, a comparing unit 303, a switching unit 304, a waiting state entering unit 305 and a takeover unit 306. The dividing unit 301 is configured to prioritize the driving states according to the degree of urgency, where the driving states in the order of priority include: emergency state, remote driving state, and automatic driving state; an obtaining unit 302 configured to obtain a driving state switching instruction, wherein the driving state switching instruction is used for switching a current driving state to a target driving state; a comparison unit 303 configured to compare a priority of a current driving state of the unmanned vehicle with the target driving state in response to receiving the driving state switching instruction; a switching unit 304 configured to control the unmanned vehicle to switch from the current driving state to the target driving state if the priority of the current driving state is lower than the priority of the target driving state; a waiting state entering unit 305 configured to control the unmanned vehicle to enter a waiting state in which the unmanned vehicle can adjust its state to an entering condition that can satisfy the target driving state, if the priority of the current driving state is higher than the priority of the target driving state; a takeover unit 306 configured to take over the waiting state by the target driving state after the unmanned vehicle enters the waiting state.
In some optional implementations of some embodiments, the entry condition of the target driving state includes: the vehicle has no self-failure.
In some optional implementations of some embodiments, the waiting state entering unit 305 of the driving state switching device 300 of the unmanned vehicle is further configured to: if the current driving state is an emergency state, the unmanned vehicle enters a stop state; determining whether the unmanned vehicle meets an exit condition for exiting the emergency state; if the exit condition is met, acquiring a confirmation instruction, wherein the confirmation instruction is used for confirming that the unmanned vehicle exits the emergency state; the unmanned vehicle enters a waiting state.
In some optional implementations of some embodiments, the entry condition of the target driving state includes one of: remote-control driving state entry conditions, remote-driving state entry conditions, and automatic driving state entry conditions.
In some optional implementations of some embodiments, the waiting state entering unit 305 of the driving state switching device 300 of the unmanned vehicle is further configured to: if the current driving state is a remote control driving state and the target driving state is a remote driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the remote driving state entering condition in the waiting state.
In some optional implementations of some embodiments, the waiting state entering unit 305 of the driving state switching device 300 of the unmanned vehicle is further configured to: if the current driving state is a remote driving state and the target driving state is an automatic driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the automatic driving state entering condition in the waiting state.
In some optional implementations of some embodiments, the unmanned vehicle driving state switching device 300 is further configured to: generating voice prompt information for representing the successful switching of the driving state; and transmitting the voice prompt information to electronic equipment with a playing function in the unmanned vehicle, and controlling the electronic equipment to play the voice prompt information.
It will be understood that the units described in the apparatus 300 correspond to the various steps in the method described with reference to fig. 2. Thus, the operations, features and resulting advantages described above with respect to the method are also applicable to the apparatus 300 and the units included therein, and are not described herein again.
Referring now to FIG. 4, a block diagram of an electronic device (e.g., computing device 101 of FIG. 1)400 suitable for use in implementing some embodiments of the present disclosure is shown. The server shown in fig. 4 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 4, electronic device 400 may include a processing device (e.g., central processing unit, graphics processor, etc.) 401 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM)402 or a program loaded from a storage device 408 into a Random Access Memory (RAM) 403. In the RAM403, various programs and data necessary for the operation of the electronic apparatus 400 are also stored. The processing device 401, the ROM 402, and the RAM403 are connected to each other via a bus 404. An input/output (I/O) interface 405 is also connected to bus 404.
Generally, the following devices may be connected to the I/O interface 405: input devices 406 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; an output device 407 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 408 including, for example, tape, hard disk, etc.; and a communication device 409. The communication means 409 may allow the electronic device 400 to communicate wirelessly or by wire with other devices to exchange data. While fig. 4 illustrates an electronic device 400 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 4 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 409, or from the storage device 408, or from the ROM 402. The computer program, when executed by the processing apparatus 401, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described above in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In some embodiments of the disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the apparatus; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: according to the degree of urgency, the driving states are prioritized, wherein the driving states comprise the following components in the priority order: emergency state, remote driving state, and automatic driving state; acquiring a driving state switching instruction, wherein the driving state switching instruction is used for switching the current driving state into a target driving state; in response to receiving the driving state switching instruction, comparing the priority of the current driving state of the unmanned vehicle with the priority of the target driving state; if the priority of the current driving state is lower than that of the target driving state, controlling the unmanned vehicle to be switched from the current driving state to the target driving state; if the priority of the current driving state is higher than that of the target driving state, controlling the unmanned vehicle to enter a waiting state, wherein the unmanned vehicle can adjust the self state to meet the entering condition of the target driving state in the waiting state; and after the unmanned vehicle enters the waiting state, the target driving state takes over the waiting state.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor comprises a dividing unit, an obtaining unit, a comparing unit, a switching unit, a waiting state entering unit and a taking-over unit. The names of these units do not in some cases constitute a limitation on the unit itself, and for example, the division unit may also be described as a "unit that prioritizes driving states in accordance with the degree of urgency".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (10)
1. A driving state switching method of an unmanned vehicle is characterized by comprising the following steps:
according to the degree of urgency, the driving states are prioritized, wherein the driving states comprise the following components in the priority order: emergency state, remote driving state, and automatic driving state;
acquiring a driving state switching instruction, wherein the driving state switching instruction is used for switching the current driving state into a target driving state;
in response to receiving the driving state switching instruction, comparing the priority of the current driving state of the unmanned vehicle with the priority of the target driving state;
if the priority of the current driving state is lower than that of the target driving state, controlling the unmanned vehicle to be switched from the current driving state to the target driving state;
if the priority of the current driving state is higher than that of the target driving state, controlling the unmanned vehicle to enter a waiting state, wherein the unmanned vehicle can adjust the self state to meet the entering condition of the target driving state in the waiting state;
and after the unmanned vehicle enters the waiting state, the target driving state takes over the waiting state.
2. The method according to claim 1, characterized in that the entry condition of the target driving state comprises: the vehicle has no self-failure.
3. The method of claim 1, wherein the controlling the unmanned vehicle to enter a waiting state if the priority of the current driving state is higher than the priority of the target driving state comprises:
if the current driving state is an emergency state, the unmanned vehicle enters a stop state;
determining whether the unmanned vehicle meets an exit condition for exiting the emergency state;
if the exit condition is met, acquiring a confirmation instruction, wherein the confirmation instruction is used for confirming that the unmanned vehicle exits the emergency state;
the unmanned vehicle enters a waiting state.
4. The method according to claim 2, characterized in that the entry condition of the target driving state comprises one of the following: remote-control driving state entry conditions, remote-driving state entry conditions, and automatic driving state entry conditions.
5. The method of claim 4, wherein the controlling the unmanned vehicle to enter a waiting state if the priority of the current driving state is higher than the priority of the target driving state comprises:
if the current driving state is a remote control driving state and the target driving state is a remote driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the remote driving state entering condition in the waiting state.
6. The method according to any one of claims 1-5, wherein said controlling said unmanned vehicle to enter a waiting state if said current driving state has a higher priority than said target driving state comprises:
if the current driving state is a remote driving state and the target driving state is an automatic driving state, the unmanned vehicle enters a waiting state, wherein the unmanned vehicle can adjust the self state to meet the automatic driving state entering condition in the waiting state.
7. The method according to one of claims 1 to 6, characterized in that the method further comprises:
generating voice prompt information for representing the successful switching of the driving state;
and transmitting the voice prompt information to electronic equipment with a playing function in the unmanned vehicle, and controlling the electronic equipment to play the voice prompt information.
8. A driving state switching device of an unmanned vehicle, characterized by comprising:
the dividing unit is configured to perform priority division on the driving states according to the emergency degree, wherein the driving states comprise the following driving states in the priority order: emergency state, remote driving state, and automatic driving state;
an acquisition unit configured to acquire a driving state switching instruction, wherein the driving state switching instruction is used for switching a current driving state to a target driving state;
a comparison unit configured to compare a priority of a current driving state of the unmanned vehicle with the target driving state in response to receiving the driving state switching instruction;
a switching unit configured to control the unmanned vehicle to switch from the current driving state to the target driving state if the priority of the current driving state is lower than the priority of the target driving state;
a waiting state entering unit configured to control the unmanned vehicle to enter a waiting state if the priority of the current driving state is higher than the priority of the target driving state, wherein the unmanned vehicle can adjust the self state to meet the entering condition of the target driving state in the waiting state;
a takeover unit configured to take over the waiting state by the target driving state after the unmanned vehicle enters the waiting state.
9. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-7.
10. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1-7.
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